WO2016056339A1 - Dispositif de traitement d'information, procédé de traitement d'information et programme - Google Patents

Dispositif de traitement d'information, procédé de traitement d'information et programme Download PDF

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Publication number
WO2016056339A1
WO2016056339A1 PCT/JP2015/075489 JP2015075489W WO2016056339A1 WO 2016056339 A1 WO2016056339 A1 WO 2016056339A1 JP 2015075489 W JP2015075489 W JP 2015075489W WO 2016056339 A1 WO2016056339 A1 WO 2016056339A1
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WIPO (PCT)
Prior art keywords
force
acting
forceps
information processing
shaped member
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PCT/JP2015/075489
Other languages
English (en)
Japanese (ja)
Inventor
一生 本郷
長阪　憲一郎
直樹 小峰
鈴木　裕之
Original Assignee
ソニー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by ソニー株式会社 filed Critical ソニー株式会社
Priority to EP15849744.6A priority Critical patent/EP3205459A4/fr
Priority to US15/512,620 priority patent/US10321928B2/en
Priority to JP2016552869A priority patent/JP6631528B2/ja
Publication of WO2016056339A1 publication Critical patent/WO2016056339A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure

Definitions

  • the present disclosure relates to an information processing apparatus, an information processing method, and a program.
  • Patent Document 1 discloses a so-called master-slave type medical support in which an arm portion to which a surgical instrument (surgical instrument) is attached is driven by an operation of an operator (operator, for example, a surgeon) via a controller.
  • An arm device is disclosed.
  • the present disclosure proposes a new and improved information processing apparatus, information processing method, and program capable of detecting a force acting on a surgical instrument with a simpler configuration.
  • An information processing apparatus includes an action force calculation unit that calculates at least one of the action forces.
  • the processor is configured to perform a first operation point and a first action point different from each other on the other side of the bar-shaped member based on a first detection value by a first force sensor provided on one side of the bar-shaped member.
  • An information processing method is provided that includes calculating at least one of the acting forces on the two acting points.
  • the computer processor has a first different action point on the other side of the bar-shaped member based on a first detection value by a first force sensor provided on one side of the bar-shaped member. And a function for calculating at least one of the acting forces on the second action point is provided.
  • the first action point and the second action point that are different from each other on the other side of the rod-shaped member. At least one of the acting forces is calculated. Accordingly, it is possible to obtain a force acting on the other side (for example, the distal end side) of the surgical instrument with a relatively simple configuration in which a force sensor is provided on one side (for example, the base side) of the surgical instrument.
  • FIG. 1 It is a figure showing a schematic structure of a system concerning a 1st embodiment of this indication. It is explanatory drawing for demonstrating the calculation method of the acting force to the 1st action point of a forceps and / or the 2nd action point in 1st Embodiment. It is a block diagram which shows the function structure of the information processing apparatus which concerns on 1st Embodiment. It is a flowchart which shows an example of the process sequence of the information processing method which concerns on 1st Embodiment. It is a figure which shows schematic structure of the system which concerns on 2nd Embodiment of this indication.
  • so-called force sensing is performed in which a force acting on a surgical instrument attached to an arm portion of a medical support arm device is detected.
  • the support arm device is used for endoscopic surgery, particularly laparoscopic surgery, and the surgical tool is forceps.
  • the patient's body is provided with a plurality of openings having a size of about 5 (mm) to 10 (mm), and surgical tools such as a laparoscope, an electric knife, and forceps are inserted through these openings. While the surgical site is observed with a laparoscope, the surgical site is treated with other surgical tools.
  • a force acting on a rod-shaped member such as a forceps can be suitably detected.
  • the present disclosure is not limited to such an example, and the technique for detecting the force acting on the surgical instrument in the present disclosure can be applied to any surgical instrument as long as it is a rod-shaped member.
  • the expression of force acting on the surgical instrument includes both or one of force and moment unless otherwise specified.
  • the support arm device may be provided with a function of controlling the driving of the arm unit based on the detected force acting on the surgical instrument. For example, if the force acting on the detected surgical tool exceeds a predetermined threshold, the arm unit controls the movement of the surgical tool so that the surgical tool does not move further in that direction. May be. Thereby, it is possible to prevent a situation in which an excessive force is applied to the tissue in the body cavity of the patient due to contact with the surgical instrument.
  • the support arm device may be a so-called master-slave type support arm device that is remotely operated by an operator via a controller.
  • the support arm device may be equipped with a so-called force feedback function that transmits the detected force acting on the surgical instrument to the operator via the controller.
  • the characteristic configuration of the first and second embodiments of the present disclosure is a configuration for performing force sensing, a configuration for performing drive control of the arm unit, and a configuration for realizing force feedback
  • various known configurations can be applied. Therefore, in the following, a detailed description of the configuration for performing various controls using the detected force will be omitted, and the configuration for performing force sensing will be mainly described.
  • FIG. 1 is a diagram illustrating a schematic configuration of a system according to the first embodiment of the present disclosure.
  • FIG. 1 illustrates only the configuration of the support arm device according to the first embodiment in the vicinity of the connection portion between the arm portion and the surgical instrument.
  • the system 1 according to the first embodiment includes a forceps 110 attached to an arm unit 160, a motor 120 for operating the forceps 110, and a driving force of the motor 120 applied to a distal end portion of the forceps 110.
  • the arm unit 160 may be a multi-link structure in which a plurality of links are connected to each other by joints. In FIG. 1, only one link constituting the arm unit 160 is schematically illustrated.
  • the support arm device according to the first embodiment can drive the arm unit 160 by various known control methods such as position control or force control by a control device (not shown). Further, the control device can operate the forceps 110 by driving the motor 120. Since various known control methods used in a general support arm device can be applied to drive control of the arm unit 160 and control of the operation of the forceps 110, detailed description thereof is omitted here.
  • the forceps 110 is a rod-shaped member, and a grip portion 111 having a scissors-type configuration that can be opened and closed is provided at the tip thereof.
  • the forceps 110 is inserted into the body cavity of the patient, and the grasping part 111 compresses the blood vessel in the operation part or grasps the excised tissue or the like.
  • the type of forceps 110 is not limited, and the forceps 110 may be any type of forceps.
  • the trocar 140 is inserted into an opening having a size of about 5 (mm) to 10 (mm) provided in the patient's body. .
  • the trocar 140 is a hollow cylindrical member, and the forceps 110 is inserted into the body cavity of the patient through the inside of the trocar 140.
  • the forceps 110 may receive a force at a contact site with the body tissue.
  • the forceps 110 may receive a force at a contact portion with the inner wall of the trocar 140. In this manner, force can be applied to the forceps 110 from two different parts.
  • a point that receives a force by contact with body tissue in the body cavity of the patient is also referred to as a first action point
  • a point that receives a force by contact with the inner wall of the trocar 140 is a second point. Also referred to as an action point.
  • the first action point can be the tip of the forceps 110 as described above.
  • the force acting on the forceps 110 from the inner wall of the trocar 140 is not so large.
  • the case where a larger force can be applied to the forceps 110 from the inner wall of the trocar 140 is a case where a force is applied to the trocar 140 from the outside. This is because when a force is applied to the trocar 140 from the outside, the force is also transmitted to the forceps 110 inserted therein via the side wall of the trocar 140. Therefore, the second action point may be a point where force is applied to the trocar 140 from the outside even in the portion inserted into the trocar 140 in the forceps 110.
  • the outer wall of the trocar 140 is in contact with the edge of the opening at the opening provided in the patient's body. Therefore, when the patient's body moves due to breathing or the like, a force acts on the trocar 140 from the outside at the contact portion.
  • the second action point is a contact portion between the inner wall of the trocar 140 and the forceps 110 at a position where the edge of the opening provided in the patient's body and the outer wall of the trocar 140 contact each other. It can be said that the second action point is a position corresponding to the vicinity of the patient's body surface.
  • trocar 140 various known trocars may be used as the trocar 140. Therefore, in FIG. 1, the detailed structure of the trocar 140 is not shown in order to avoid the drawing from becoming complicated. However, in FIG. 1, only the contact portion between the forceps 110 and the trocar 140 corresponding to the second action point is schematically illustrated for explanation.
  • a motor 120 for operating the forceps 110 is provided at the attachment portion of the forceps 110 of the arm portion 160.
  • two motors 120 are provided for the forceps 110.
  • the driving force of the motor 120 is transmitted to the forceps 110 via the transmission member 130, the forceps 110 operates.
  • the transmission member 130 includes gears (gears) 131 and 132 and a wire 133.
  • the center of the gear 131 is pivotally supported on the drive shaft of the motor 120 and rotates as the motor 120 is driven.
  • the gear 131 is meshed with a gear 132 whose size is adjusted so as to have a predetermined reduction ratio.
  • One end of a wire 133 is wound around the gear 132, and tension is applied to the wire 133 by the motor 120 via the gears 131 and 132.
  • the forceps 110 is hollow, and the wire 133 is extended inside the forceps 110.
  • the other end of the wire 133 is connected to the grip portion 111 at the tip of the forceps 110, and when the wire 133 is driven by the motor 120, operations such as opening and closing of the grip portion 111 are performed.
  • the forceps 110 has a movable part other than the grip part 111 such as a joint part, the other movable part may be driven by the wire 133.
  • the gears 131 and 132 are not necessarily provided, and the wire 133 may be directly connected to the drive shaft of the motor 120 and the forceps 110 may be driven.
  • transmission members such as the gears 131 and 132, operations such as maintenance and replacement of the arm unit 160 and the forceps 110 become easier.
  • the specific configuration of the transmission member 130 is not limited to the illustrated one, and the transmission member 130 may be configured to transmit the driving force of the motor 120 to the wire 133, and the configuration is arbitrary. It may be.
  • the mechanism for operating the forceps 110 is configured by driving two wires 133 by the two motors 120, but the mechanism for operating the forceps 110 is such an example. It is not limited to.
  • the number and arrangement positions of the motors 120 and the specific configuration of the transmission member 130 can be appropriately set so as to realize a desired operation of the forceps 110.
  • a force sensor 150 is provided at a connection portion between the arm portion 160 and the forceps 110.
  • one force sensor 150 having an annular shape is provided.
  • FIG. 1 a cross section of the force sensor 150 is illustrated.
  • the forceps 110 is connected to the arm portion 160 via a force sensor 150, and the force sensor 150 can detect a force and a moment acting on the forceps 110.
  • the force sensor 150 is, for example, a six-axis force sensor, and has a function of detecting forces in three axial directions orthogonal to each other and moments around the three axial directions.
  • the force sensor 150 is provided at one end of the forceps 110, and the first action point and the second action point exist on the other end side.
  • the number and position of the force sensors 150 are not limited to the example illustrated.
  • the force sensor 150 may be provided on a side of the forceps 110 that is different from the first action point and the second action point, and the specific arrangement number and arrangement position will be described later. It may be arbitrarily set so that the calculation of the acting force on the first action point and / or the second action point of the forceps 110 by the information processing device 170 is executed with high accuracy.
  • the extending direction of the forceps 110 which is a rod-shaped member, is defined as the z-axis direction.
  • Two directions orthogonal to the z-axis direction are defined as an x-axis direction and a y-axis direction.
  • the force sensor 150 is disposed so that the x-axis direction, the y-axis direction, and the z-axis direction are detection axes.
  • Information on the force and moment detected by the force sensor 150 is transmitted to the information processing apparatus 170.
  • the information processing apparatus 170 is also referred to as an action force on the first action point and / or the second action point of the forceps 110 (hereinafter simply referred to as an action force on the forceps 110). ).
  • the force sensor 150 is configured to detect forces and moments at predetermined intervals and transmit information about the detected values to the information processing apparatus 170 as needed.
  • the information processing apparatus 170 can calculate the acting force on the forceps 110 at any given time according to the detection interval of the force sensor 150. The details of the calculation process performed by the information processing apparatus 170 will be described later in (1-2. Method for calculating acting force) and (1-3. Functional configuration).
  • Various known communication methods may be applied to the communication method between the force sensor 150 and the information processing apparatus 170 regardless of wired or wireless.
  • the information processing apparatus 170 only needs to have a function of operating according to a predetermined program and performing the above-described calculation processing, and its specific configuration is not limited.
  • the information processing apparatus 170 may be a general-purpose information processing apparatus such as a PC (Personal Computer), or may be an information processing apparatus specialized in numerical calculation such as an arithmetic server.
  • the information processing apparatus 170 may be various processors such as a CPU (Central Processing Unit) and a DSP (Digital Signal Processor), or a so-called microcomputer in which a processor and a storage device such as a memory are integrally configured. It may be.
  • the information processing device 170 may be configured integrally with a control device that controls driving of the support arm device.
  • the information processing apparatus 170 may not necessarily be a single apparatus, and may be configured by a plurality of apparatuses, and the above-described calculation processing may be performed by the plurality of apparatuses cooperating with each other. For example, calculation speed can be improved by performing calculation processing in parallel by a plurality of devices. Further, the information processing apparatus 170 may not be disposed near the support arm device, and is provided on a network (on a so-called cloud), for example, and receives the detection value of the force sensor 150 via the network, so that You may perform the calculated processing.
  • FIG. 2 is an explanatory diagram for describing a method of calculating the acting force on the first action point and / or the second action point of the forceps 110 in the first embodiment.
  • FIG. 2 corresponds to FIG. 1 with the addition of the arrow indicating the force acting on the forceps 110 and the description of the dimensions of the forceps 110 and the like already described with reference to FIG.
  • the overlapping description is abbreviate
  • a force acting on the forceps 110 by simply driving the forceps 110 (hereinafter also referred to as an active force). Will not be considered. That is, it can be said that the first embodiment assumes a static state in which the forceps 110 are not operating. As described above, even when the active force is not taken into consideration, it is possible to obtain the acting force on the forceps 110 with a certain accuracy. Note that a more accurate calculation method of the acting force in consideration of the active force will be described in detail in the following (2. Second Embodiment). The first embodiment makes it possible to obtain the acting force on the forceps 110 with a simpler configuration, although the accuracy may be somewhat lower than that of the second embodiment described later.
  • the forceps 110 has a force 211 for the first action point 210, a force 221 for the second action point 220, and the weight of the forceps 110.
  • Gravity 231 can act.
  • the force 211 is a reaction force applied from the body tissue to the distal end of the forceps 110 when the distal end of the forceps 110 contacts the body tissue in the body cavity of the patient.
  • the force 221 is force applied to the trocar 140 that is in contact with the edge of the opening provided in the patient's body by movement of the patient's body due to breathing or the like via the side wall of the trocar 140. 110 is transmitted.
  • the forces acting in the x-axis direction, the y-axis direction, and the z-axis direction at the first action point 210 are referred to as Fx, Fy, and Fz, respectively.
  • moments around the x-axis direction, the y-axis direction, and the z-axis direction that act at the first action point 210 are referred to as Mx, My, and Mz, respectively.
  • the forces acting in the x-axis direction, the y-axis direction, and the z-axis direction at the second action point 220 are referred to as Ftx, Fty, and Ftz, respectively.
  • the moments around the x-axis direction, the y-axis direction, and the z-axis direction that act at the second action point 220 are referred to as Mtx, Mty, and Mtz, respectively.
  • the detection values of the force sensor 150 the detection values of the forces in the x-axis direction, the y-axis direction, and the z-axis direction are referred to as Fsx, Fsy, and Fsz, respectively, and are in the x-axis direction, the y-axis direction, and the z-axis direction.
  • the detected values of the surrounding moments are referred to as Msx, Msy, and Msz, respectively.
  • the number and positions of the force sensors 150 are not limited to the configuration example shown in FIG.
  • a plurality of force sensors 150 may be provided at a connection portion between the arm unit 160 and the forceps 110.
  • a value obtained by combining the detection values of the plurality of force sensors 150 can be handled as Fsx, Fsy, Fsz, Msx, Msy, and Msz.
  • the mass of the forceps 110 is a known amount that can be measured in advance. Further, the positions and postures of the arm unit 160 and the forceps 110 are held, for example, as an internal model by a control device that controls driving of the arm unit 160 (the mass of the forceps 110 can also be held as an internal model). Therefore, the magnitude of the gravity 231 acting on the forceps 110 and the magnitude of the moment caused by the gravity 231 according to the position and posture of the forceps 110 are determined by the positions of the arm unit 160 and the forceps 110 held by the control device. It can be treated as a known value that can be calculated based on information about the posture.
  • the value obtained by subtracting the component due to gravity 231 from the detection value of the force sensor 150 is regarded as Fsx, Fsy, Fsz, Msx, Msy, and Msz.
  • a constraint condition is set according to the use mode of the forceps 110.
  • the constraint condition can be appropriately set by an operator or a designer of the system 1 in view of the usage mode of the forceps 110 according to the operation content.
  • the force Ftz in the z-axis direction is applied to the forceps 110. It is assumed that the Mty and the moment Mtz around the z axis do not substantially work. This is because the forceps 110 is inserted into the inside of the trocar 140 that is a cylindrical member, and the second action point is a contact portion between the outer periphery of the forceps 110 and the inner wall of the trocar 140.
  • the force Ftz and the moments Mtx, Mty, and Mtz are assumed to be sufficiently smaller than other forces and moments. Accordingly, as the first constraint condition, the force Ftz and the moments Mtz, Mty, and Mtz at the second action point 220 are regarded as substantially zero.
  • the moment around the axis other than the extending direction of the forceps 110, that is, the z-axis direction is almost equal. It is assumed that it does not work. Therefore, as the second constraint condition, the moments Mx and My at the first action point 210 are regarded as substantially zero.
  • the detection values Fsx, Fsy, Fsz, Msx, Msy, Msz of the force sensor 150 (however, the component of gravity 231 is subtracted) and Fx, Fy, Considering the balance of force and moment between Fz, Mx, My, Mz and Ftx, Fty, Ftz, Mtx, Mty, Mz at the second action point 220, the following formulas (1) to (6) can be obtained.
  • the following formulas (4) to (6) are derived from the balance of moments around the second action point.
  • Lt is the distance from the force sensor 150 to the second action point 220
  • Ls is the distance from the second action point 220 to the tip of the forceps 110.
  • Fsx, Fsy, Fsz, Msx, Msy, and Msz are values obtained from the force sensor 150 and are known values.
  • Lt and Ls are also known values. This is because Lt and Ls can be easily calculated from the total length of the forceps 110 and the positional relationship between the trocar 140 and the forceps 110.
  • the total length of the forceps 110 is naturally a known value in terms of the structure of the forceps 110.
  • the forceps 110 is applied to an internal model used when the control device of the support arm device controls the driving of the arm unit 160. Information about the length of 110 is also included.
  • the position of the trocar 140 is inserted into the patient during the operation, the position of the trocar 140 is substantially fixed, and the position information of the trocar 140 is also included in the internal model. Further, as described above, the position information of the forceps 110 is also included in the internal model. Therefore, since the control device knows the total length of the forceps 110 and the positional relationship between the trocar 140 and the forceps 110, Lt and Ls can be handled as known values.
  • the information processing apparatus 170 can solve the simultaneous equations by various numerical calculation methods. Since various known methods can be used as a numerical calculation method for solving the simultaneous equations, detailed description thereof is omitted here.
  • an analytical solution of the simultaneous equations is calculated in advance by an operator or a designer of the system 1 and is input to the system 1. It may be.
  • the following equations (7) to (12) can be obtained as analytical solutions by solving the simultaneous equations consisting of the above equations (1) to (6) for unknowns.
  • the information processing apparatus 170 substitutes Fsx, Fsy, Fsz, Msx, Msy, Msz, which are detection values of the force sensor 150, and Lt and Ls that can be calculated as known quantities into the following mathematical formulas (7) to (12). By doing so, Fx, Fy, Fz, Mz, Ftx, and Fty can be obtained.
  • the method for calculating the acting force according to the first embodiment has been described.
  • the acting force on the first acting point 210 based on the balance equation of the detection value of the force sensor 150, the acting force on the first acting point 210, and the acting force on the second acting point.
  • the acting force of the forceps 110 on the first acting point 210 and / or the acting force on the second acting point is calculated.
  • a constraint condition is set for the force acting on the forceps 110 according to the use mode of the forceps 110, and the balance equation is simplified based on the constraint condition, whereby the first action point of the forceps 110 is obtained.
  • the acting force on 210 and / or acting force on the second acting point is calculated.
  • the constraint condition is not limited to the above example.
  • the above-described restriction conditions are provided.
  • different restriction conditions are set depending on the type of the forceps 110 and its usage. May be.
  • the target on which the acting force is calculated is not limited to the forceps 110, and the acting force on any other rod-shaped member may be calculated.
  • the usage mode may change depending on the member. Therefore, according to the usage mode of the member that is the target of calculation of the acting force, an appropriate constraint condition is determined by the user and the designer of the system 1 in the first embodiment. It may be set as appropriate. Even when the constraint conditions are different, the force acting on the member can be calculated by simplifying the balance equation of force and moment based on the constraint condition, as in the method described above.
  • FIG. 3 is a block diagram illustrating a functional configuration of the information processing apparatus 170 according to the first embodiment.
  • the information processing apparatus 170 includes a storage unit 171 and a control unit 172. As illustrated, the information processing apparatus 170 is connected to the force sensor 150 so that various types of information can be communicated. The information processing apparatus 170 can acquire information about the detection values (that is, force and moment) detected by the force sensor 150 from the force sensor 150. Although illustration is omitted, the information processing device 170 is also connected to a control device that controls driving of the arm unit 160 so that various types of information can be communicated. The information processing device 170 can acquire information on the positions and postures of the arm unit 160 and the forceps 110, information necessary for calculating the above-described Lt and Ls, and the like from the control device.
  • the storage unit 171 is configured by various storage devices such as a magnetic storage device such as an HDD (Hard Disk Drive), a semiconductor storage device, an optical storage device, or a magneto-optical storage device, and various types of information processed by the control unit 172. And the processing result by the control part 172 etc. are memorize
  • the control unit 172 can execute various processes by using various types of information stored in the storage unit 171.
  • the storage unit 171 stores various types of information necessary for performing the calculation described in (1-2. Method of calculating an acting force).
  • the storage unit 171 stores the detection value of the force sensor 150.
  • the storage unit 171 transmits various types of information transmitted from the control device (for example, information about the position and posture of the arm unit 160 and the forceps 110, information about the shape and mass of the forceps 110, and the like of the trocar 140). Information on the position etc.) is stored.
  • the storage unit 171 stores information on the above-described constraint conditions. Note that information on the constraint condition can be input to the storage unit 171 in advance by an operator, a designer of the system 1, or the like prior to surgery.
  • the control unit 172 is configured by various processors such as a CPU and a DSP, for example, and comprehensively controls various processes in the information processing apparatus 170.
  • the control unit 172 has an acting force calculation unit 173 as its function.
  • Each function of the control unit 172 can be realized by various processors constituting the control unit 172 operating according to a predetermined program.
  • the acting force calculation unit 173 calculates the acting force on the first action point and / or the second action point of the forceps 110 based on the detection value of the force sensor 150. Specifically, the acting force calculation unit 173 performs the above (1-2. Acting force calculation method) based on the detected value of the force sensor 150 and various information stored in the storage unit 171. The described calculation is performed, and the acting force on the forceps 110 is calculated.
  • the acting force calculation unit 173 indicates force balance and moment balance as shown in the above formulas (1) to (6) based on the constraint conditions stored in the storage unit 171.
  • the detection value is provided from the force sensor 150 to the acting force calculator 173.
  • the acting force calculation unit 173 is based on information about the forceps 110 and information indicating the position and posture of the arm unit 160 stored in the storage unit 171 and the components of gravity acting on the forceps 110 and the above-described information. Lt and Ls can be calculated.
  • the acting force calculation unit 173 substitutes the detected value of the force sensor 150 obtained by subtracting the gravity component or a known value such as Lt, Ls, etc.
  • an analytical solution for example, the above mathematical formulas (7) to (12) obtained by previously solving the simultaneous equations with respect to the unknown is used. May be calculated by the designer and the system 1 designer and stored in the storage unit 171.
  • the acting force calculation unit 173 calculates the acting force on the forceps 110 by substituting the detected value of the force sensor 150 obtained by subtracting the gravity component and known values such as Lt and Ls into the analytical solution. can do.
  • the detection value of the force sensor 150 may be temporarily stored in the storage unit 171 after being transmitted to the information processing device 170, and the acting force calculation unit 173 is used for calculation by referring to the storage unit 171. The detection value of the force sensor 150 may be obtained.
  • the acting force calculation unit 173 does not necessarily require all unknowns when solving the simultaneous equations composed of the above formulas (1) to (6) or substituting known values into the above formulas (7) to (12). You do not have to ask for. For example, when it is desired to obtain only the acting force on the distal end of the forceps 110 (ie, the first acting point), the acting force calculation unit 173 calculates only the unknown corresponding to the acting force at the first acting point. can do. Which unknown is to be obtained may be appropriately set by the surgeon and the designer of the system 1.
  • the acting force on the forceps 110 calculated by the acting force calculation unit 173 is transmitted to the control device, for example.
  • control of the arm unit 160 and control of force feedback to the operator's controller are performed based on the calculated acting force on the forceps 110.
  • the calculation result by the action force calculation part 173 is displayed on a display part (not shown), for example, or is transmitted to other apparatuses via a communication part (not shown), for example, an operator etc. May be output in the form of a numerical value, a graph, or the like.
  • the force force calculation unit 173 determines the forceps based on the detection value of the force sensor 150 provided on one side of the forceps 110 (connection portion with the arm portion 160). At least one of the acting forces on the other first acting point and the second acting point existing on the other side of 110 is calculated. Therefore, even if a force sensor is not provided at the tip of the forceps 110, the acting force at the tip can be calculated. Thus, according to the first embodiment, the force acting on the forceps 110 can be detected with a simpler configuration.
  • the detected force can be used to diagnose the surgical site or to increase the safety of the operation. For example, based on the detected force applied to the forceps 110, the patient's medical condition can be confirmed by examining the hardness of the surgical site, or the feel of a part that cannot be confirmed with a camera such as a laparoscope can be confirmed. it can. Further, for example, based on the detected force acting on the forceps 110, drive control of the arm part 160 to which the forceps 110 is attached is performed so that a force exceeding a certain level is not applied to the operation part, or the excised site is removed from the body. It can be judged whether or not it is caught in other tissues in the body when it is pulled out. Thus, the detected acting force on the forceps 110 may be used for various purposes.
  • the acting force on the forceps 110 is calculated on the assumption that the entire length of the forceps 110 is constant.
  • the first embodiment is not limited to this example, and the length of the forceps 110 may be variable.
  • the values of Lt and Ls can be changed according to the change in the length of the forceps 110.
  • the acting force calculation unit 173 calculates Lt and Ls according to a change in the length of the forceps 110, and calculates the calculated Lt and Ls. Can be used to calculate the acting force on the first point of action and / or the second point of action.
  • the change in the length of the forceps 110 is recognized as an internal model, for example, by a control device that controls the driving of the arm unit 160. Therefore, when the length of the forceps 110 changes, the acting force calculation unit 173 can recalculate Lt and Ls by acquiring information about the changed length of the forceps 110 from the control device. it can.
  • the forceps 110 is handled as a rod-like member extending substantially linearly.
  • the first embodiment is not limited to such an example, and the forceps 110 may have a joint portion and be configured to change its shape and posture.
  • the position of the first action point and the second action point that is, the values of Lt and Ls
  • the position of the center of gravity of the forceps 110 that is, gravity acts
  • the acting force calculation unit 173 causes the first action point, the second action point, and the center of gravity according to changes in the shape and posture of the forceps 110.
  • the driving of the joint portion of the forceps 110 can be controlled by a control device that controls the driving of the arm portion 160. Therefore, the change in the shape and posture of the forceps 110 due to the driving of the joint portion is grasped by the control device as an internal model, for example. Therefore, when the joint portion is driven and the shape and posture of the forceps 110 are changed, the acting force calculation unit 173 acquires information on the changed shape and posture of the forceps 110 from the control device, thereby obtaining the first force. , The second action point, and the position of the center of gravity can be recalculated.
  • the information processing apparatus 170 may further have various functions that a general information processing apparatus has.
  • the information processing apparatus 170 communicates with an input unit that receives various operation inputs by the user, an output unit that outputs various types of information visually and audibly to the user, and other external devices. It may further have functions such as a communication unit.
  • the apparatus configuration of the information processing apparatus 170 is not limited to the example shown in FIG.
  • the functions of the information processing apparatus 170 illustrated in FIG. 3 are not necessarily integrated with one apparatus.
  • Each function installed in the information processing apparatus 170 illustrated in FIG. 3 may be distributed and installed in a plurality of apparatuses, and the information processing apparatus 170 may be configured such that the plurality of apparatuses are communicably connected.
  • the storage unit 171 may be provided as an external device different from the information processing device 170, and the information processing device 170 performs the above-described calculation process while communicating with the storage unit 171 that is an external device. May be.
  • each function of the control unit 172 may be executed by one processor or may be executed by cooperation of a plurality of processors.
  • a computer program for realizing the functions of the information processing apparatus 170 according to the first embodiment as described above, and to implement it on a personal computer or the like.
  • a computer-readable recording medium storing such a computer program can be provided.
  • the recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like.
  • the above computer program may be distributed via a network, for example, without using a recording medium.
  • FIG. 4 is a flowchart illustrating an example of a processing procedure of the information processing method according to the first embodiment. 4 may be executed by the control unit 172 shown in FIG. 3 operating according to a predetermined program.
  • the detection value by the force sensor 150 is acquired by the control unit 172 (step S101).
  • the detection value of the force sensor 150 may be directly provided to the acting force calculation unit 173 illustrated in FIG. 3 or may be temporarily stored in the storage unit 171.
  • the action force calculation unit 173 calculates the action force on the forceps 110 at the first action point and / or the second action point based on the acquired detection value (step S103). Specifically, based on the detected value of the force sensor 150 and various information stored in the storage unit 171 by the applied force calculation unit 173, the above (1-2. Calculation method of applied force) is performed. The described calculation is performed and the acting force is calculated. In the process shown in step S103, the acting force may be calculated using a value obtained by subtracting a component due to gravity of the forceps 110 from the detection value of the first force sensor 150.
  • the output destination of the calculation result is, for example, a control device of the support arm device that drives the forceps 110.
  • drive control of the arm unit 160 and force feedback control to the operator's controller are performed based on the calculation result.
  • the acting force on the forceps 110 at the first action point and / or the second action point is calculated without considering the active force acting on the forceps 110.
  • the detection value of the force sensor 150 includes the influence of the force applied to the forceps 110 by driving the motor 120.
  • the force acting on the forceps 110 at the first action point and / or the second action point is calculated with higher accuracy by considering even an active force.
  • FIG. 5 is a diagram illustrating a schematic configuration of a system according to the second embodiment of the present disclosure.
  • the system according to the second embodiment has a force sensor 280 described later added to the system 1 according to the first embodiment described with reference to FIG. Corresponds to the function changed. Since the configuration and functions of the other members are the same as those of the system 1, the following description of the second embodiment omits the detailed description of matters overlapping with those of the first embodiment. Differences from the embodiment will be mainly described.
  • the system 2 includes a forceps 110, a motor 120, a transmission member 130, a trocar 140, force sensors 150 and 280, and an information processing device 290.
  • a forceps 110 the forceps 110
  • the motor 120 the transmission member 130
  • a trocar 140 the force sensors 150 and 280
  • an information processing device 290 the configurations and functions of the forceps 110, the motor 120, the transmission member 130, the trocar 140, and the force sensor 150 are the same as the configurations and functions of these members in the first embodiment, detailed descriptions thereof are omitted. To do.
  • the force sensor 280 is a torque sensor that is provided on the drive shaft of the motor 120 and detects the torque of the drive shaft.
  • the force sensor 150 is also referred to as a first force sensor 150
  • the force sensor 280 is also referred to as a second force sensor 280.
  • the second force sensor 280 is provided on each of the drive shafts of the two motors 120.
  • the second force sensor 280 and the information processing device 290 are communicably connected, and information on the torque of the drive shaft of the motor 120 detected by the second force sensor 280 is transmitted to the information processing device 290.
  • the torque detection interval of the second force sensor 280 and the transmission interval of information about the detection value from the second force sensor 280 to the information processing device 290 are, for example, the detection interval of the first force sensor 150 and the first This is synchronized with the transmission interval of information about the detected value from the force sensor 150 to the information processing device 290.
  • the detection value of the first force sensor 150 can change as the force acting on the forceps 110 changes, and the detection value of the second force sensor 280 changes as the driving force of the motor 120 changes. Therefore, the first force sensor 150 and the second force sensor 280 are synchronized with each other, and the force and the moment (torque) are detected at the same timing, thereby obtaining a more accurate detection value considering the time change. Can do.
  • any communication method may be applied to the communication method between the second force sensor 280 and the information processing device 290 regardless of wired or wireless.
  • the information processing device 290 generates a force acting on the first action point and / or the second action point of the forceps 110 based on the detection value of the first force sensor 150 and the detection value of the second force sensor 280. calculate.
  • the information processing device 290 may calculate the acting force on the forceps 110 at any given interval according to the detection interval of the first force sensor 150 and the second force sensor 280.
  • the detection value of the second force sensor 280 is the torque of the drive shaft of the motor 120 and represents the force acting on the forceps 110 when the motor 120 is driven, that is, the active force. is there.
  • the information processing device 290 uses both the detection value of the first force sensor 150 and the detection value of the second force sensor 280 to remove the influence of active force, and The force acting on the first and / or second action point of 110 is calculated. Thereby, calculation with higher accuracy in consideration of active force becomes possible. Note that details of the calculation processing performed by the information processing device 290 will be described again in the following (2-2. Calculation method of acting force) and (2-3. Functional configuration).
  • the information processing device 290 only needs to have a function of operating according to a predetermined program and performing the above-described calculation processing, similarly to the information processing device 170 according to the first embodiment, and its specific configuration is limited.
  • the information processing apparatus 290 can be a PC, a server, a processor, or the like.
  • FIG. 6 is an explanatory diagram for explaining a method of calculating the acting force on the first action point and / or the second action point of the forceps 110 in the second embodiment. 6 is an enlarged view of the vicinity of the connection portion between the arm portion 160 and the forceps 110 in FIG. 5, and therefore, a redundant description of the configuration already described with reference to FIG. 5 is omitted.
  • the force at the first action point based on the detection values of the first force sensor 150 (Fsx, Fsy, Fsz, Msx, Msy, Msz described above), the force at the first action point and The method for determining the moment (Fx, Fy, Fz, Mx, My, Mz described above) and the force and moment (Ftx, Fty, Ftz, Mtx, Mty, Mz described above) at the second action point are the first method. This is the same as the embodiment. That is, also in the second embodiment, the above formulas (1) to (6) are formulated based on the same constraints as the method described in (1-2. Calculation method of acting force).
  • Fx, Fy, Fz, Mz, Ftx, and Fty that are unknowns are calculated.
  • Fsx, Fsy, Fsz are obtained by subtracting the active force component calculated from the detection value of the second force sensor 280 from the detection value of the first force sensor 150.
  • Msx, Msy, and Msz, and Equations (1) to (6) are solved.
  • the active force will be described with reference to FIG.
  • the torque 310 represents the torque that is applied to the drive shaft when the motor 120 is driven.
  • the second force sensor 280 is provided so as to detect the torque 310.
  • the force 320 represents the force that the gear 131 gives to the gear 132 upon receiving the torque 310.
  • a force 330 represents the force (tension) that the gear 132 pulls the wire 133 in response to the force 320. That is, it can be said that the force 330 is a force by which the wire 133 pulls the tip of the forceps 110.
  • the gear 132 is actually configured such that its rotating shaft is pivotally supported by the forceps 110. Accordingly, when the gear 132 rotates upon receiving the force 320, the force 340 can be applied to the forceps 110 through the rotation shaft. Further, in response to the force 330 that is the tension of the wire 133, a force 350 that the rotating shaft of the gear 132 applies to the forceps can also be generated.
  • the force 330 which is the tension generated in the wire 133, and the force 350 received by the forceps 110 by the force 330 are in a mutually canceling relationship. Therefore, while the motor 120 is driven and the forceps 110 is moving, the force 340 is applied to the forceps 110 by the first force sensor 150 in addition to the force acting at the first action point and the second action point. Can be detected. Thus, when calculating the acting force at the first acting point and the second acting point from the detection value of the first force sensor 150, the force 340 can be noise.
  • the force 340 is a force generated when the torque 310 is transmitted via the gears 131 and 132, and can be easily calculated based on the shape of the gears 131 and 132 and the value of the torque 310. Therefore, in the second embodiment, the information processing device 290 causes the force and moment applied to the forceps 110 according to the driving force of the motor 120 based on the detection value (that is, the torque 310) of the second force sensor 280. That is, the force 340 and the moment due to the force 340 are calculated, and the calculated component of the force 340 is subtracted from the detection value of the first force sensor 150.
  • the information processing device 290 uses the detection value of the force sensor 150 from which the component of the force 340 is removed (that is, the detection value of the force sensor 150 from which the component of the force 340 is removed is expressed as Fsx, Fsy, Fsz, Msx). , Msy, and Msz), the acting force at the first acting point and / or the second acting point is calculated by a method similar to the method described in (1-2. Method for calculating acting force) above. . By performing such processing, it is possible to calculate the acting force at the first and second action points with higher accuracy, from which the influence of the active force has been removed.
  • FIG. 6 the force and moment associated with the driving force of one of the two motors 120 are illustrated.
  • the other motor 120 is driven by the force of the other motor 120.
  • the second force sensor 280 is also provided on the drive shaft of the other motor 120. Then, the information processing device 290 calculates the force and moment applied to the forceps 110 according to the driving force of both motors 120 using the detection value of the other second force sensor 280 together. The influence of the driving force of the motor 120 is removed, and the action force at the first action point and / or the second action point is calculated.
  • FIG. 7 is a block diagram illustrating a functional configuration of the information processing apparatus 290 according to the second embodiment.
  • the information processing apparatus 290 includes a storage unit 291 and a control unit 292. As illustrated, the information processing apparatus 290 is connected to the first force sensor 150 and the second force sensor 280 so that various types of information can be communicated.
  • the second force sensor 280 is schematically illustrated as one block, but actually, the second force sensor 280 is provided in each of the motors 120 as illustrated in FIG. 5.
  • the detection values of the plurality of second force sensors 280 are transmitted to the information processing device 290.
  • the information processing device 290 acquires information about the detection values (that is, the force and moment) detected by the first force sensor 150 from the first force sensor 150 and the second force sensor 280 from the second force sensor 280.
  • Information about the value detected by the force sensor 280 (that is, the torque acting on the drive shaft of the motor 120) can be acquired.
  • the information processing device 290 is also connected to a control device that controls driving of the arm unit 160 so that various types of information can be communicated.
  • the information processing device 290 can acquire information on the positions and postures of the arm unit 160 and the forceps 110, information necessary for calculating the above-described Lt and Ls, and the like from the control device.
  • the storage unit 291 includes various storage devices such as a magnetic storage device such as an HDD, a semiconductor storage device, an optical storage device, or a magneto-optical storage device, and includes various information processed by the control unit 292 and the control unit 292. Stores processing results and the like.
  • the control unit 292 can execute various types of processing by using various types of information stored in the storage unit 291.
  • the storage unit 291 stores the same information as the storage unit 171 according to the first embodiment. However, in the second embodiment, the storage unit 291 can store the detection value of the second force sensor 280 in addition to these pieces of information. Further, the storage unit 291 performs various types of information (for example, for obtaining the component of the force 340 shown in FIG. 6 included in the detection value of the first force sensor 150 from the detection value of the second force sensor 280 (for example, , Information on the shapes and mounting positions of the gears 131 and 132) is stored. Since the information can be determined according to the configurations of the arm unit 160 and the forceps 110, the information can be input to the storage unit 171 in advance by the operator, the designer of the system 1, or the like before the operation.
  • the control unit 292 is configured by various processors such as a CPU and a DSP, for example, and comprehensively controls various processes in the information processing apparatus 290.
  • the control unit 292 has an active acting force removal unit 293 and an acting force calculation unit 294 as its functions.
  • Each function of the control unit 292 can be realized by various processors constituting the control unit 292 operating according to a predetermined program.
  • the active acting force removal unit 293 includes a force and a moment (that is, a diagram) applied to the forceps 110 by the driving force of the motor 120 included in the detection value of the first force sensor 150 from the detection value of the second force sensor 280. 6) and the components of the force 340 and the moment caused by the force 340 are calculated. For the calculation, information on the shapes and mounting positions of the gears 131 and 132 stored in the storage unit 291 can be used.
  • the active acting force removal unit 293 performs a process of subtracting a component caused by the driving force of the motor 120 from the detection value of the first force sensor 150 based on the calculation result.
  • the active acting force removal unit 293 is a value obtained by subtracting a component due to the driving force of the motor 120 from the detection value of the first force sensor 150 (that is, the detection value of the first force sensor 150 is based on the active force).
  • the value obtained by subtracting the component) is provided to the acting force calculation unit 294.
  • the detection values of the first force sensor 150 and the second force sensor 280 may be temporarily stored in the storage unit 291 after being transmitted to the information processing device 290, and the active acting force removal unit 293 may By referring to the storage unit 291, detection values of the first force sensor 150 and the second force sensor 280 used for the calculation may be obtained.
  • the active acting force removal unit 293 has the plurality of second force sensors 280.
  • a combined value of the force and moment applied to the forceps 110 by the driving force of the plurality of motors 120 may be calculated based on each detected value, and the combined value may be subtracted from the detected value of the first force sensor 150.
  • the acting force calculation unit 294 acts on the first action point and / or the second action point of the forceps 110 based on the detection value of the first force sensor 150 and the detection value of the second force sensor 280. Calculate Specifically, the acting force calculation unit 294 calculates the above described (1-2. Acting force calculation) based on the detection value of the first force sensor 150 and various types of information stored in the storage unit 171. The calculation described in the method) is performed, and the acting force on the forceps 110 is calculated. However, the acting force calculation unit 294 calculates the value obtained by subtracting the component due to the active force from the detection value of the first force sensor 150 provided from the active acting force removal unit 293 in the calculation process.
  • the Fsx, Fsy, Fsz, Msx, Msy, and Msz are obtained by subtracting the active force component from the detection value of the first force sensor 150, and the forceps 110 gravity as in the first embodiment. Further, the component may be further subtracted.
  • the function of the acting force calculation unit 294 is the same as that of Fsx, Fsy, Fsz, Msx, Msy, and Msz except that a value obtained by subtracting a component due to active force from the detection value of the first force sensor 150 is used. Since it is substantially the same as the function of the acting force calculation unit 173 according to the first embodiment, a detailed description of the other functions of the acting force calculation unit 294 is omitted here.
  • the acting force on the forceps 110 calculated by the acting force calculation unit 294 is transmitted to the control device, for example.
  • control of the arm unit 160 and control of force feedback to the operator's controller are performed based on the calculated acting force on the forceps 110.
  • the calculation result by the action force calculation part 294 is displayed on a display part (not shown), for example, or is transmitted to another apparatus via a communication part (not shown), an operator etc. May be output in the form of a numerical value, a graph, or the like.
  • the functional configuration of the information processing device 290 has been described above with reference to FIG. According to the second embodiment, in addition to the effects obtained by the first embodiment described above, the following effects can be obtained. That is, according to the second embodiment, the torque of the drive shaft of the motor 120 is detected by the second force sensor 280. Then, based on the detection value by the second force sensor 280, the acting force on the first action point and / or the second action point of the forceps 110 from which the influence of the driving force of the motor 120 is removed is calculated. Is done. Therefore, even when the motor 120 is driven and the forceps 110 are in operation, the force acting on the forceps 110 can be detected with higher accuracy.
  • the information processing apparatus 290 may further include various functions of a general information processing apparatus such as an input unit, an output unit, and a communication unit.
  • the device configuration of the information processing device 290 is not limited to the example shown in FIG.
  • the functions of the information processing apparatus 290 illustrated in FIG. 7 do not necessarily have to be integrally mounted on one apparatus.
  • Each function mounted on the information processing apparatus 290 illustrated in FIG. 7 may be distributed and mounted on a plurality of apparatuses, and the information processing apparatus 290 may be configured by connecting the plurality of apparatuses so that they can communicate with each other.
  • the storage unit 291 may be provided as an external device different from the information processing device 290, and the information processing device 290 performs the above-described calculation process while communicating with the storage unit 291 that is an external device. May be.
  • Each function of the control unit 292 illustrated may be executed by different devices.
  • each function of the control unit 292 may be executed by one processor or may be executed by cooperation of a plurality of processors.
  • a computer program for realizing the functions of the information processing apparatus 290 according to the second embodiment as described above, and to implement the computer program on a personal computer or the like.
  • a computer-readable recording medium storing such a computer program can be provided.
  • the recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like.
  • the above computer program may be distributed via a network, for example, without using a recording medium.
  • FIG. 8 is a flowchart illustrating an example of a processing procedure of the information processing method according to the second embodiment. 8 can be executed by the control unit 292 shown in FIG. 7 operating according to a predetermined program.
  • the detection value by the first force sensor 150 is acquired by the control unit 292 (step S201).
  • the detection value by the second force sensor 280 is acquired by the control unit 292 (step S203).
  • the process shown in step S201 and the process shown in step S203 are illustrated in order, but in actuality, these processes may be performed simultaneously.
  • the detection values of the first force sensor 150 and the second force sensor 280 may be directly provided to the active acting force removal unit 293 shown in FIG. 7 or may be temporarily stored in the storage unit 291. .
  • the active force removal unit 293 removes the component due to the active force from the detection value of the first force sensor 150 (step S205). . Specifically, the active acting force removal unit 293 performs active based on the detection value of the second force sensor 280 and information such as the shapes of the gears 131 and 132 stored in the storage unit 291. Force, that is, the force and moment applied to the forceps 110 by the driving force of the motor 120 are calculated. Then, a component corresponding to the calculation result is subtracted from the detection value of the first force sensor 150 by the active acting force removal unit 293.
  • step S207 the forceps at the first action point and / or the second action point based on the value obtained by removing the active force component from the detection value of the first force sensor 150 by the action force calculation unit 294.
  • the acting force on is calculated (step S207). Specifically, the value calculated in step S205 (a value obtained by subtracting the component due to the active force from the detection value of the first force sensor 150) is stored in the storage unit 291 by the acting force calculation unit 294. Based on the various types of information, the calculation described in (1-2. Calculation method of acting force) is performed, and the acting force is calculated. In the process shown in step S207, the acting force is obtained by using the value obtained by further subtracting the component due to gravity of the forceps 110 from the value obtained by subtracting the component due to the active force from the detection value of the first force sensor 150. Can be calculated.
  • the output destination of the calculation result is, for example, a control device of the support arm device that drives the forceps 110.
  • drive control of the arm unit 160 and force feedback control to the operator's controller are performed based on the calculation result.
  • FIG. 9 is a diagram illustrating a schematic configuration of a system according to a modified example in which the arrangement position of the force sensor 150 is changed in the first embodiment.
  • the system according to this modification corresponds to the system 1 according to the first embodiment described with reference to FIG. 1, in which the arrangement position of the force sensor 150 is changed, and other members.
  • the configuration and function are the same as those of the system 1. Therefore, in the following description of the present modification, detailed description of items that are the same as those in the first embodiment will be omitted, and differences from the first embodiment will be mainly described.
  • the system 3 includes a forceps 110, a motor 120, a transmission member 130, a trocar 140, a force sensor 150, and an information processing device 170.
  • the configurations and functions of the forceps 110, the motor 120, the transmission member 130, the trocar 140, the force sensor 150, and the information processing device 170 are the same as the configurations and functions of these members in the first embodiment. Detailed description is omitted.
  • the force sensor 150 is provided in front of the motor 120. That is, the force sensor 150 is directly attached to the arm unit 160, and the force sensor 150 is connected to the forceps 110 via the motor 120. Even in such a configuration, the force applied to the forceps 110 at the first action point and / or the second action point based on the detection value of the force sensor 150 by the same method as in the first embodiment. Can be calculated.
  • the force sensor 150 is attached to the connection portion between the forceps 110 and the arm portion 160 so as to support the forceps 110 (see FIG. 1). Therefore, when performing the process of subtracting the component due to the weight of the forceps 110 from the detection value of the force sensor 150, the mass, position, and posture of the forceps 110 may be taken into consideration.
  • the force sensor 150 can detect not only the gravity acting on the forceps 110 but also the gravity acting on the motor 120 and the transmission member 130.
  • the information processing apparatus 170 performs a process of subtracting components due to gravity acting on the forceps 110, the motor 120, and the transmission member 130 from the detection value of the force sensor 150, and a value obtained by subtracting these components.
  • FIG. 10 is a diagram illustrating a schematic configuration of a system according to a modified example in which the arrangement position of the first force sensor 150 is changed in the second embodiment.
  • the system according to this modification corresponds to the system 2 according to the second embodiment described with reference to FIG. 5 in which the position of the first force sensor 150 is changed, and the others.
  • the structure and function of these members are the same as those of the system 2. Therefore, in the following description of this modification, detailed description of items that are the same as those in the second embodiment will be omitted, and differences from the second embodiment will be mainly described.
  • the system 4 includes a forceps 110, a motor 120, a transmission member 130, a trocar 140, a first force sensor 150, a second force sensor 280, and information processing.
  • An apparatus 290 the configurations and functions of the forceps 110, the motor 120, the transmission member 130, the trocar 140, the first force sensor 150, the second force sensor 280, and the information processing apparatus 290 are the same as those of the second embodiment. Since it is the same as that of a structure and a function, the detailed description is abbreviate
  • the first force sensor 150 is provided in front of the motor 120. That is, the first force sensor 150 is directly attached to the arm unit 160, and the first force sensor 150 is connected to the forceps 110 via the motor 120. Even in such a configuration, the first action point and the second action are performed based on the detection values of the first force sensor 150 and the second force sensor 280 by the same method as in the second embodiment. It is possible to calculate the force acting on the forceps at the point.
  • the information processing device 290 performs a process of subtracting components due to gravity acting on the forceps 110, the motor 120, and the transmission member 130 from the detection value of the first force sensor 150, and subtracting these components.
  • the obtained values are regarded as Fsx, Fsy, Fsz, Msx, Msy, and Msz, and processing for solving the above mathematical expressions (1) to (6) is performed.
  • a torque sensor is used as the second force sensor 280, and the influence of active force is removed from the detection value of the first force sensor 150 based on the detection value of the torque sensor.
  • the second embodiment is not limited to such an example, and as the second force sensor 280, another type of force sensor, for example, a six-axis force sensor may be used. Even when a six-axis force sensor is used as the second force sensor 280, it is possible to remove the influence of active force in the same manner.
  • the force and moment detected by the first force sensor 150 include a component due to the acting force on the forceps 110 at the first acting point and an acting force on the forceps 110 at the second acting point.
  • the component includes a component due to gravity related to the weight of the forceps 110 and a component due to the driving force of the motor 120.
  • the force and moment acting on the forceps 110 detected by the second force sensor 280 which is a six-axis force sensor includes a component due to gravity related to the weight of the motor 120 and a component due to the driving force of the motor 120. It is.
  • the component due to the gravity related to the weight of the forceps 110 and the component due to the gravity related to the weight of the motor 120 among the above components can be calculated. Therefore, according to this modification, a component based on the driving force of the motor 120 is calculated based on the detection value of the second force sensor 280, and the calculated result is subtracted from the detection value of the first force sensor 150. Thus, it is possible to obtain the force acting on the first action point and / or the second action point of the forceps 110 from which the influence of the active force has been removed.
  • the component due to the driving force of the motor 120 included in the detection value of the second force sensor 280 is detected by the second force sensor 280 directly attached to the motor 120, whereas the first Since the component due to the driving force of the motor 120 included in the detected value of the force sensor 150 is detected via the transmission member 130, the relationship between the two changes depending on the position and posture of the forceps 110. obtain. Therefore, in this modification, the change of the detection value of the first force sensor 150 and the detection value of the second force sensor 280 according to the position and posture of the forceps 110 is learned in advance, and based on the learned content, A process for removing the influence of the active force may be executed.
  • FIG. 11 is a functional block diagram illustrating an example of a hardware configuration of the system according to the first and second embodiments.
  • the system 900 illustrated in FIG. 11 can implement the systems 1, 2, 3, and 4 illustrated in FIGS. 1, 5, 9, and 10, for example.
  • the system 900 has a configuration corresponding to the forceps 110, the motor 120, the transmission member 130, the trocar 140, and the arm unit 160 shown in FIGS. 1, 5, 9, and 10. It has.
  • the system 900 includes a CPU 901, a ROM (Read Only Memory) 903, and a RAM (Random Access Memory) 905.
  • the system 900 may also include a host bus 907, a bridge 909, an external bus 911, an interface 913, an input device 915, an output device 917, a storage device 919, a drive 921, a connection port 923, a communication device 925, and a sensor 935.
  • the system 900 may include a processing circuit called DSP or ASIC (Application Specific Integrated Circuit) instead of or in addition to the CPU 901.
  • the CPU 901 functions as an arithmetic processing unit and a control unit, and controls all or a part of the operation in the system 900 according to various programs recorded in the ROM 903, the RAM 905, the storage device 919, or the removable recording medium 927.
  • the ROM 903 stores programs used by the CPU 901, calculation parameters, and the like.
  • the RAM 905 temporarily stores programs used in the execution of the CPU 901, parameters at the time of execution, and the like.
  • the CPU 901 corresponds to, for example, the control units 172 and 292 in the first and second embodiments described above.
  • the CPU 901, the ROM 903, and the RAM 905 are connected to each other by a host bus 907 configured by an internal bus such as a CPU bus. Further, the host bus 907 is connected to an external bus 911 such as a PCI (Peripheral Component Interconnect / Interface) bus via a bridge 909.
  • a PCI Peripheral Component Interconnect / Interface
  • the host bus 907 is connected to an external bus 911 such as a PCI (Peripheral Component Interconnect / Interface) bus via a bridge 909.
  • PCI Peripheral Component Interconnect / Interface
  • the input device 915 is configured by a device operated by a user, such as a mouse, a keyboard, a touch panel, a button, a switch, and a lever.
  • the input device 915 may be, for example, a remote control device (so-called remote controller) using infrared rays or other radio waves, or may be an external connection device 929 such as a mobile phone or a PDA that supports the operation of the system 900. There may be.
  • the input device 915 includes an input control circuit that generates an input signal based on information input by the user using the above-described operation means and outputs the input signal to the CPU 901, for example.
  • a user of the system 900 can input various data and instruct a processing operation to the system 900 by operating the input device 915.
  • the operator and the designer of the system 900 for example, via the input device 915, for example, the first action point and / or the second action point of the forceps 110, such as information about constraint conditions.
  • Various types of information used to calculate the acting force on the point of action are input.
  • the output device 917 is a device that can notify the user of the acquired information visually or audibly. Examples of such devices include CRT display devices, liquid crystal display devices, plasma display devices, EL display devices, display devices such as lamps, audio output devices such as speakers and headphones, printer devices, and the like.
  • the output device 917 outputs, for example, results obtained by various processes performed by the system 900. Specifically, the display device visually displays results obtained by various processes performed by the system 900 in various formats such as text, images, tables, and graphs. In the first and second embodiments, for example, a calculation result of the acting force on the first action point and / or the second action point of the forceps 110 is displayed on the display device.
  • the audio output device converts an audio signal composed of reproduced audio data, acoustic data, and the like into an analog signal and outputs it aurally.
  • the storage device 919 is a data storage device configured as an example of a storage unit of the system 900.
  • the storage device 919 includes, for example, a magnetic storage device such as an HDD, a semiconductor storage device, an optical storage device, or a magneto-optical storage device.
  • the storage device 919 stores programs executed by the CPU 901, various data, various data acquired from the outside, and the like.
  • the storage device 919 corresponds to, for example, the storage units 171 and 291 in the first and second embodiments described above. In the first and second embodiments, the storage device 919 is used to calculate the force acting on the first action point and / or the second action point of the forceps 110, such as information on the constraint condition. Various information to be stored is stored.
  • the drive 921 is a reader / writer for a recording medium, and is built in or externally attached to the system 900.
  • the drive 921 reads information recorded on a removable recording medium 927 such as a mounted magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, and outputs the information to the RAM 905.
  • the drive 921 can also write information to a removable recording medium 927 such as a mounted magnetic disk, optical disk, magneto-optical disk, or semiconductor memory.
  • the removable recording medium 927 is, for example, a DVD medium, an HD-DVD medium, a Blu-ray (registered trademark) medium, or the like.
  • the removable recording medium 927 may be a compact flash (registered trademark) (CompactFlash: CF), a flash memory, an SD memory card (Secure Digital memory card), or the like. Further, the removable recording medium 927 may be, for example, an IC card (Integrated Circuit card) on which a non-contact IC chip is mounted, an electronic device, or the like. In the first and second embodiments, for example, various types of information processed by the control units 172 and 292 and various types of information stored in the storage units 171 and 291 are read from the removable recording medium 927 by the drive 921. Or may be written to the removable recording medium 927.
  • the connection port 923 is a port for directly connecting a device to the system 900.
  • Examples of the connection port 923 include a USB (Universal Serial Bus) port, an IEEE 1394 port, and a SCSI (Small Computer System Interface) port.
  • As another example of the connection port 923 there are an RS-232C port, an optical audio terminal, a HDMI (registered trademark) (High-Definition Multimedia Interface) port, and the like.
  • various types of information processed by the control units 172 and 292 and various types of information stored in the storage units 171 and 291 are transmitted via the connection port 923 to the external connection device 929. Or may be output to the external connection device 929.
  • the communication device 925 is a communication interface configured with, for example, a communication device for connecting to a communication network (network) 931.
  • the communication device 925 is, for example, a communication card for wired or wireless LAN (Local Area Network), Bluetooth (registered trademark), or WUSB (Wireless USB).
  • the communication device 925 may be a router for optical communication, a router for ADSL (Asymmetric Digital Subscriber Line), a modem for various communication, or the like.
  • the communication device 925 can transmit and receive signals and the like according to a predetermined protocol such as TCP / IP, for example, with the Internet or other communication devices.
  • the network 931 connected to the communication device 925 is configured by a wired or wireless network, and may be, for example, the Internet, a home LAN, infrared communication, radio wave communication, satellite communication, or the like.
  • communication between the information processing devices 170 and 290 and the control device that controls the driving of the support arm device may be executed by the communication device 925 via the network 931. .
  • the sensor 935 is various sensors such as an acceleration sensor, a gyro sensor, a geomagnetic sensor, an optical sensor, a sound sensor, a distance measuring sensor, and a force sensor.
  • the sensor 935 includes, for example, information on the state of the attached member (for example, the forceps 110 shown in FIGS. 1, 5, 9, and 10), the movement speed, the acting force, the state of the member, Information on the surrounding environment of the member, such as brightness and noise, is acquired.
  • the sensor 935 may also include a GPS sensor that receives GPS signals and measures the latitude, longitude, and altitude of the device.
  • the sensor 935 corresponds to, for example, the first force sensor 150 and the second force sensor 280 in the first and second embodiments described above.
  • each component described above may be configured using a general-purpose member, or may be configured by hardware specialized for the function of each component. Therefore, it is possible to change the hardware configuration to be used as appropriate according to the technical level at the time of carrying out this embodiment.
  • a computer program for realizing each function of the system 900 according to the present embodiment as described above can be produced and mounted on a PC or the like.
  • a computer-readable recording medium storing such a computer program can be provided.
  • the recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like.
  • the above computer program may be distributed via a network, for example, without using a recording medium.
  • the force acting on the forceps 110 is calculated, but the present technology is not limited to such an example.
  • the target on which the acting force is calculated is not limited to the forceps 110, and the acting force on any other rod-shaped member can be calculated.
  • the target for which the acting force is calculated may be a surgical tool other than the forceps 110.
  • the said rod-shaped member is not limited to the surgical instrument used in a medical field.
  • the present technology can also be applied to various bar-shaped members in other technical fields.
  • An information processing apparatus comprising: an acting force calculation unit that calculates at least one of the following.
  • the acting force calculation unit is based on a balance equation of the first detection value, the acting force on the first acting point, and the acting force on the second acting point.
  • the information according to (2), wherein the acting force calculation unit calculates the acting force by simplifying the balance equation based on a constraint condition according to a usage mode of the rod-shaped member. Processing equipment.
  • the first force sensor is any one of (1) to (3), which is a six-axis force sensor that detects a force in three axial directions orthogonal to each other and a moment around the three axes.
  • the information processing apparatus according to item.
  • the second action point is the position where the outer wall of the trocar and the edge of the opening come into contact when the trocar and the forceps are inserted into the opening provided in the patient's body.
  • the information processing apparatus which is a contact portion between an inner wall of a trocar and the forceps.
  • a second force sensor that detects torque of a drive shaft of a motor that operates the rod-shaped member is further provided, and the acting force calculation unit is based on a second detection value by the second force sensor.
  • the information processing apparatus according to any one of (1) to (7), wherein the influence of the driving force of the motor is removed and the acting force is calculated.
  • a force and a moment applied to the rod-shaped member according to the driving force of the motor are calculated, and the calculated force and moment are subtracted from the first detection value.
  • An active acting force removing unit wherein the acting force calculating unit is based on the first detection value obtained by subtracting the force and moment applied to the rod-shaped member according to the driving force of the motor.
  • the information processing apparatus according to (8), wherein an action force is calculated.
  • the rod-shaped member is attached to an arm portion of a master-slave type support arm device remotely operated by an operator via a controller, and the control device of the support arm device is calculated by the action force calculation unit.
  • the information processing apparatus according to any one of (1) to (9), wherein an acting force on the first action point is fed back to the operator via the controller.
  • the rod-shaped member is attached to an arm portion of a support arm device, and the control device of the support arm device is based on an acting force on the first acting point calculated by the acting force calculation unit.
  • the information processing apparatus according to any one of (1) to (10), wherein the information processing apparatus controls driving of the arm unit.
  • the acting force calculation unit removes the influence of the weight of the rod-shaped member based on the information about the position and posture of the arm unit and the rod-shaped member held by the control device, and The information processing apparatus according to (11), wherein a force is calculated.
  • the acting force calculation unit calculates the force and moment applied to the rod-shaped member according to the weight of the rod-shaped member, and subtracts the calculated force and moment from the first detection value,
  • the length of the rod-shaped member is variable, and the acting force calculation unit acts on the first detection value and the first action point according to a change in the length of the rod-shaped member.
  • the rod-shaped member has at least one joint portion, and is configured to be able to change a position and a posture by the joint portion, and the acting force calculation unit is configured to determine a position and a posture of the rod-shaped member by the joint portion.
  • the acting force is calculated.
  • the information processing apparatus according to any one of (1) to (14), wherein: (16) Based on a first detection value by a first force sensor provided on one side of the bar-shaped member, the processor moves to a first action point and a second point of action different from each other on the other side of the bar-shaped member.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ophthalmology & Optometry (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

[Problème] L'invention a pour objet de rendre possible la détection de forces agissant sur un instrument chirurgical en utilisant une configuration simplifiée. [Solution] L'invention concerne un dispositif de traitement d'information équipé d'une unité de calcul d'effort exercé servant à calculer, d'après une première valeur détectée par un premier capteur d'effort placé sur un côté d'un élément en forme de tige, les forces agissant sur un premier point d'application et/ou un deuxième point d'application qui diffèrent l'un de l'autre sur l'autre côté de l'élément en forme de tige.
PCT/JP2015/075489 2014-10-09 2015-09-08 Dispositif de traitement d'information, procédé de traitement d'information et programme WO2016056339A1 (fr)

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EP15849744.6A EP3205459A4 (fr) 2014-10-09 2015-09-08 Dispositif de traitement d'information, procédé de traitement d'information et programme
US15/512,620 US10321928B2 (en) 2014-10-09 2015-09-08 Information processing device, information processing method, and program
JP2016552869A JP6631528B2 (ja) 2014-10-09 2015-09-08 情報処理装置、情報処理方法及びプログラム

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EP3205459A4 (fr) 2018-06-27
US10321928B2 (en) 2019-06-18
JPWO2016056339A1 (ja) 2017-07-27
EP3205459A1 (fr) 2017-08-16
US20170290601A1 (en) 2017-10-12

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